CN110177374B - V2X functional application testing method, device and system based on vehicle-road cooperation - Google Patents
V2X functional application testing method, device and system based on vehicle-road cooperation Download PDFInfo
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- CN110177374B CN110177374B CN201910496427.8A CN201910496427A CN110177374B CN 110177374 B CN110177374 B CN 110177374B CN 201910496427 A CN201910496427 A CN 201910496427A CN 110177374 B CN110177374 B CN 110177374B
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Abstract
The invention relates to the technical field of vehicle networking, and particularly discloses a V2X function application testing method based on vehicle-road cooperation, wherein the method comprises the following steps: acquiring scene setting information; receiving the motion state information of the detected vehicle; calculating the motion state of the auxiliary test vehicle at the next sampling moment according to the motion state information of the auxiliary test vehicle at the current sampling moment, the model parameters of the auxiliary test vehicle and the motion state information of the tested vehicle; framing the motion state information of the auxiliary test vehicle at the next sampling moment according to the V2X communication protocol; and transmitting the motion state information of the next sampling moment of the auxiliary test vehicle which completes the framing operation to the tested vehicle, and receiving the V2X function test information of the tested vehicle. The invention also discloses a device and a system for testing the V2X function application based on vehicle-road cooperation. The V2X function application test method based on vehicle-road cooperation improves the implementation accuracy of test cases and the validity of test data.
Description
Technical Field
The invention relates to the technical field of vehicle networking, in particular to a vehicle-road cooperation based V2X function application testing method, a vehicle-road cooperation based V2X function application testing device and a vehicle-road cooperation based V2X function application testing system comprising the vehicle-road cooperation based V2X function application testing device.
Background
The V2X function application test generally adopts an actual road test method, and has the advantages that the actual road, the vehicle and the driver participate in the test, and the credibility of the test data result is high. However, since the auxiliary test vehicle has a risk of colliding with the vehicle to be tested in the V2X functional application test process, such as forward collision warning, lateral collision warning, turning auxiliary, etc., many scenario test cases are excluded from the test range in the actual test activities, and the test cases in the test range are also strictly limited (such as limiting the vehicle driving speed, driving route, etc. to avoid safety accidents), thereby causing that the test data is difficult to obtain or the test is difficult to achieve the expected effect. On the other hand, since driver operation is difficult to keep consistent over multiple tests, test data validity is affected.
In order to make up for the defects of the actual road testing method, a software testing method and a hardware-in-the-loop testing method are adopted for supplement. The software testing method generally constructs a testing scene model including a network communication model, a road model, a vehicle motion model and a driver model, can meet the testing requirements of various V2X functional applications by adjusting model parameters, and has a more comprehensive coverage range of test cases. However, since the reality of the test scene model constructed by the method is easily influenced by the accuracy of the model, it is difficult to accurately reproduce the real road traffic scene.
The hardware-in-loop test method can bring key components or systems which are difficult to accurately model in the application of the V2X function into a test loop, and other test scene elements are still realized by adopting a software modeling method.
In summary, if the collision between the auxiliary test vehicle and the vehicle to be tested can be avoided in the conventional actual road test, the limitation on the test cases can be reduced, and the coverage of the test cases can be further expanded on the premise of ensuring the safety, so that how to improve the safety of the actual road test becomes an urgent technical problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to solve at least one of the technical problems in the prior art, and provides a V2X function application testing method based on vehicle-road cooperation, a V2X function application testing device based on vehicle-road cooperation and a V2X function application testing system based on vehicle-road cooperation, wherein the V2X function application testing device based on vehicle-road cooperation comprises the V2X function application testing device based on vehicle-road cooperation, so as to solve the problems in the prior art.
The invention provides a vehicle-road cooperation based V2X functional application testing method, wherein the vehicle-road cooperation based V2X functional application testing method comprises the following steps:
acquiring scene setting information, wherein the scene setting information comprises motion state information of the auxiliary test vehicle at the current sampling moment and model parameters of the auxiliary test vehicle;
receiving the motion state information of the detected vehicle;
calculating the motion state of the auxiliary test vehicle at the next sampling moment according to the motion state information of the auxiliary test vehicle at the current sampling moment, the model parameters of the auxiliary test vehicle and the motion state information of the tested vehicle;
framing the motion state information of the auxiliary test vehicle at the next sampling moment according to a V2X communication protocol;
and transmitting the motion state information of the next sampling moment of the auxiliary test vehicle which completes the framing operation to the tested vehicle in the next network access period, and receiving the V2X function test information of the tested vehicle.
Preferably, the motion state information of the auxiliary test vehicle at the current sampling time comprises: and the current sampling moment of the auxiliary test vehicle is relative to the position, speed, acceleration, attitude angle and attitude angular speed of the tested vehicle.
Preferably, the model parameters of the auxiliary test vehicle include length, width, height, mass, three-axis moment of inertia, wheel base, and engine maximum power and maximum torque information of the auxiliary test vehicle.
Preferably, the motion state information of the vehicle under test includes a position, a speed, an acceleration, an attitude angle, and an attitude angular velocity of the vehicle under test at the sampling time.
Preferably, the scenario setting information further includes V2X functional application test scenario design data.
As a second aspect of the present invention, there is provided a V2X function application testing device based on vehicle-road coordination, wherein the V2X function application testing device based on vehicle-road coordination includes:
the system comprises a first communication module, a second communication module and a third communication module, wherein the first communication module is used for acquiring scene setting information, and the scene setting information comprises motion state information of the auxiliary test vehicle at the current sampling moment and model parameters of the auxiliary test vehicle;
the motion tracking module is used for receiving motion state information of a detected vehicle;
the calculation module is used for calculating the motion state of the auxiliary test vehicle at the next sampling moment according to the motion state information of the auxiliary test vehicle at the current sampling moment, the model parameters of the auxiliary test vehicle and the motion state information of the tested vehicle;
a framing operation module for framing the motion status information of the secondary test vehicle at a next sampling time according to the V2X communication protocol
And the second communication module is used for sending the motion state information of the next sampling moment of the auxiliary test vehicle which completes the framing operation to the tested vehicle in the next network access period and receiving the V2X function test information of the tested vehicle.
Preferably, the vehicle-road coordination based V2X function application testing device includes:
the V2X road side device is in wireless communication connection with the second communication module, and the V2X road side device is used for achieving communication with a detected vehicle.
As a third aspect of the present invention, there is provided a vehicle-road coordination based V2X functional application testing system, wherein the vehicle-road coordination based V2X functional application testing system includes: the system comprises a scene generation module, a vehicle-mounted module and the V2X functional application testing device based on vehicle-road cooperation, wherein the scene generation module and the vehicle-mounted module are in communication connection with the V2X functional application testing device based on vehicle-road cooperation;
the scene generation module is used for generating scene setting information;
the vehicle-mounted module is used for acquiring the motion state information of the detected vehicle;
the V2X function application testing device based on vehicle-road cooperation is used for obtaining motion state information of the auxiliary testing vehicle at the next sampling moment according to scene setting information and motion state information of the tested vehicle, and sending the motion state information to the vehicle-mounted module to realize V2X function application testing of the tested vehicle.
Preferably, the scene generation module includes: the system comprises a third communication module, a scene generation calculation module and a first display module, wherein the third communication module and the display module are in wired communication connection with the scene generation calculation module;
the scene generation calculation module is used for generating scene setting information;
the third communication module is used for realizing communication between the scene generation module and the vehicle-road cooperation based V2X function application testing device;
the display module is used for displaying a scene test process of the V2X function application test device based on vehicle-road cooperation.
Preferably, the on-board module includes: the vehicle-mounted display system comprises V2X vehicle-mounted equipment, a fourth communication module, a vehicle-mounted control calculation module and a second display module, wherein the second display module and the fourth communication module are in communication connection with the vehicle-mounted control calculation module, and the V2X vehicle-mounted equipment is in wired communication connection with the fourth communication module;
the vehicle-mounted control computing module is used for collecting motion state information of a detected vehicle and sending the motion state information to the V2X vehicle-mounted equipment through the fourth communication module, the V2X vehicle-mounted equipment is used for sending the motion state information of the detected vehicle to the V2X function application testing device based on vehicle-road cooperation, the V2X vehicle-mounted equipment can also receive motion state information of an auxiliary test vehicle sent by the V2X function application testing device based on vehicle-road cooperation and send the motion state information to the vehicle-mounted control computing module through the fourth communication module, the vehicle-mounted control computing module can also analyze the motion state information of the auxiliary test vehicle and obtain early warning information, and the second display module is used for displaying the early warning information.
According to the V2X function application test method based on vehicle-road cooperation, auxiliary test vehicles in actual road tests are virtually realized by using the vehicle-road cooperation technology, so that collision with the tested vehicles in the test process is avoided, and the test safety is improved; the specific test scene is quantized into the test cases of specific parameters such as relative position, speed and the like and vehicle model parameters, and the motion of the auxiliary test vehicle is simulated and implemented through the vehicle-road cooperation technology, so that the uncertainty caused by the operation of a vehicle driver is avoided, and the implementation accuracy of the test cases and the effectiveness of test data are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a vehicle-road cooperation based V2X functional application testing method provided by the present invention.
Fig. 2 is a structural block diagram of the vehicle-road cooperation based V2X functional application testing system provided by the present invention.
FIG. 3 is a flow chart of an interactive multi-model algorithm provided by the present invention.
Fig. 4 is a block diagram of a structure of the V2X functional application testing device based on vehicle-road coordination provided by the invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are given by way of illustration and explanation only, not limitation.
As a first aspect of the present invention, there is provided a vehicle-road coordination based V2X functional application testing method, wherein as shown in fig. 1, the vehicle-road coordination based V2X functional application testing method includes:
s110, obtaining scene setting information, wherein the scene setting information comprises motion state information of the auxiliary test vehicle at the current sampling moment and model parameters of the auxiliary test vehicle;
s120, receiving the motion state information of the detected vehicle;
s130, calculating the motion state of the auxiliary test vehicle at the next sampling moment according to the motion state information of the auxiliary test vehicle at the current sampling moment, the model parameters of the auxiliary test vehicle and the motion state information of the tested vehicle;
s140, framing the motion state information of the auxiliary test vehicle at the next sampling moment according to a V2X communication protocol;
and S150, sending the motion state information of the next sampling moment of the auxiliary test vehicle which completes the framing operation to the tested vehicle in the next network access period, and receiving the V2X function test information of the tested vehicle.
It should be understood that, the V2X communication protocol is divided into a plurality of network access periods, the motion state information of the auxiliary test vehicle at the next sampling time is calculated in the current network access period, and the motion state information of the next sampling time is sent to the tested vehicle in the next network access period.
According to the V2X function application test method based on vehicle-road cooperation, auxiliary test vehicles in actual road tests are virtually realized by using the vehicle-road cooperation technology, so that collision with the tested vehicles in the test process is avoided, and the test safety is improved; the specific test scene is quantized into the test cases of specific parameters such as relative position, speed and the like and vehicle model parameters, and the motion of the auxiliary test vehicle is simulated and implemented through the vehicle-road cooperation technology, so that the uncertainty caused by the operation of a vehicle driver is avoided, and the implementation accuracy of the test cases and the effectiveness of test data are improved.
Taking a forward collision early warning scene test as an example, a relatively flat straight line section is usually selected as a test section to assist a test vehicle to simulate a front vehicle and a tested vehicle to simulate a rear vehicle, and the test aims to judge whether a vehicle-mounted control calculation module of the tested vehicle can timely judge the collision risk of the two vehicles based on V2X communication information, send early warning information to a driver, and record the sending and receiving time of V2X information for subsequent function application efficiency analysis.
Specifically, the motion state information of the auxiliary test vehicle at the current sampling moment comprises: and the current sampling moment of the auxiliary test vehicle is relative to the position, speed, acceleration, attitude angle and attitude angular speed of the tested vehicle.
Specifically, the model parameters of the auxiliary test vehicle comprise the length, width, height, mass, three-axis moment of inertia, wheel base and maximum power and maximum torque information of the auxiliary test vehicle.
Specifically, the motion state information of the vehicle under test includes a position, a speed, an acceleration, an attitude angle, and an attitude angular velocity of the vehicle under test at the sampling time.
Specifically, the scenario setting information further includes V2X functional application test scenario design data.
It should be understood that the vehicle-road coordination-based V2X function application testing method provided by the present invention is implemented by being integrated in a roadside scene control module, that is, the roadside scene control module executes the vehicle-road coordination-based V2X function application testing method, the roadside scene control module is respectively connected to the scene generation module and the vehicle-mounted module in a communication manner, and a detailed description is given below to a specific implementation process of the vehicle-road coordination-based V2X function application testing method provided by the present invention with reference to fig. 2.
In the initial stage of testing, different test cases of a forward collision early warning test scene are stored in the scene control module and are specifically quantized into auxiliary test vehicle relative motion parameters and auxiliary test vehicle model parameters. The auxiliary test vehicle relative motion parameters comprise relative position, speed, acceleration, attitude angle and attitude angular speed information; the auxiliary test vehicle model parameters comprise length, width, height, mass, three-axis rotational inertia, wheelbase, wheel base, maximum power and maximum torque information of the vehicle.
And after the data are checked to be correct, the scene control module sends the relative motion parameters of the auxiliary test vehicle and the model parameters of the auxiliary test vehicle to the roadside scene control module. And meanwhile, storing the high-precision positioning information of the scene control module into the vehicle-mounted module, wherein the high-precision positioning information specifically comprises longitude, latitude and elevation information of the scene control module. And then, the driver starts the tested vehicle to drive into the test road, and the vehicle motion state information sent by the V2X vehicle-mounted module according to the frequency of 10Hz specifically comprises position, speed, acceleration, attitude angle and attitude angular speed information.
After the vehicle to be detected enters the effective communication range, a motion tracking module in the roadside scene control module tracks and estimates the motion state of the vehicle to be detected based on the motion state information of the vehicle to be detected received by the V2X roadside communication module. Because the distance between the roadside scene control module and the detected vehicle is relatively small, the influence of the curvature of the earth can be ignored, and a local geographical coordinate system, namely a northeast coordinate system, is established by taking the position of the roadside scene control module as an origin. Taking into account the test sectionFor the flat and auxiliary test vehicle and the tested vehicle with the smallest relative distance, neglecting the sky coordinate, selecting the motion state vector of the tested vehicle as [ x ] e y n v e v u ] T Wherein x is e And y n Respectively representing the east and north position coordinates of the tested vehicle in the local self-care coordinate system; v. of e And v n Respectively representing the east and north speeds of the tested vehicle in the local self-care coordinate system. The motion state information sent by the vehicle to be measured is used as the measurement information, for example, the position and speed information is adopted to form an observation vector
Wherein the content of the first and second substances,
and
respectively representing the east and north position coordinates of the motion state information sent by the detected vehicle in a local self-care coordinate system with the roadside scene control module as the origin;
and
respectively representing the east and north position coordinates of the detected vehicle transmission motion state information in a local self-care coordinate system with the roadside scene control module as the origin.
The motion state of the vehicle to be measured can be estimated by adopting various statistical filtering techniques, for example, a plurality of state equations describing the uniform motion and the uniform turning motion of the vehicle to be measured are established by adopting an interactive multi-model method, wherein the acceleration is regarded as random disturbance (state noise) by the uniform motion model, and then the corresponding state transition matrix, the corresponding interference propagation matrix and the corresponding observation matrix are respectively:
the uniform turning motion model assumes that the heading angular velocity is known. Then the corresponding state transition matrix, interference propagation matrix and observation matrix are respectively:
establishing N filter combinations M according to calculation establishment of roadside scene control module i (k)，i＝1...N。
According to the interactive multi-model method, each filter is independently estimated at each sampling moment, and the estimation of the motion state of the vehicle to be measured without measurement noise is obtained according to the comprehensive estimation of each model
The specific algorithm flow is shown in fig. 3.
The various parameters in fig. 3 are defined as follows:
(1)
the state estimate of the model j at time k is the predicted output of a certain model filter;
(2)
the state estimate of the model j at time k-1 is the predicted output of a certain model filter;
(3)
(ii) an interaction state estimate for the jth model of the result of the interactor estimate;
(4) u (k): probability vectors at time k;
(5) Λ (k): a possible vector at time k;
(6)
the state estimate of the model j at time k is the predicted output of a certain model filter;
(7)
state estimation is obtained by comprehensive estimation of N models at the moment k;
(8) z (k): a measured value at time k;
(9)M i (k) the method comprises the following steps And (3) a filter i.
The virtual vehicle relative motion calculation module calculates the motion state of the auxiliary test vehicle at the next sampling moment based on the motion state estimation of the tested vehicle according to the auxiliary test vehicle relative motion parameters, wherein the motion state comprises the position, the speed and the course information in the local geographic coordinate system
Wherein the content of the first and second substances,
and
respectively representing the east and north positions of the auxiliary test vehicle in the local geographical coordinate system; v. of C Representing the speed of the auxiliary test vehicle in the local geographical coordinate system; psi C Indicating the heading angle of the auxiliary test vehicle in the aforementioned local geographical coordinate system.
The control information framing module completes framing operation on the motion state of the auxiliary test vehicle at the next sampling moment according to the V2X communication protocol, and the motion state is sent to the V2X vehicle-mounted communication module of the vehicle-mounted module through the V2X communication module at the next sampling moment under the control of the signal sending control module, so that the motion of the vehicle is virtually and auxiliarily tested.
After the V2X communication module of the vehicle-mounted module receives the motion information of the virtual auxiliary test vehicle, the vehicle-mounted control calculation module analyzes and judges the distance between the two vehicles, detects a potential collision event, and warns the driver of the vehicle to be tested according to the prewarning logic.
In the test process, a scene control calculation module of the scene control module acquires the sampling moment motion states of the tested vehicle and the virtual auxiliary vehicle through the Ethernet communication module, and three-dimensionally displays the test scene in a display. The testing staff observes the monitor scene testing state of the display, the scene control computing module terminates and resets the scene testing,
in the test process, a scene control calculation module of the scene control module records vehicle motion state information and V2X communication information in the test process; and a vehicle-mounted control calculation module in the vehicle-mounted module respectively records the motion state information of the tested vehicle, the V2X communication information and the early warning information in the test process. And (4) evaluating the functional application efficiency of the V2X according to the recorded information analysis and test process by a test worker.
As a second aspect of the present invention, there is provided a V2X function application testing device based on vehicle-road coordination, wherein, as shown in fig. 4, the V2X function application testing device based on vehicle-road coordination 100 includes:
the first communication module 110, the first communication module 110 being configured to obtain scene setting information, where the scene setting information includes motion state information of a current sampling time of an auxiliary test vehicle and model parameters of the auxiliary test vehicle;
a motion tracking module 120, wherein the motion tracking module 120 is used for receiving motion state information of the detected vehicle;
the calculation module 130 is used for calculating the motion state of the auxiliary test vehicle at the next sampling moment according to the motion state information of the auxiliary test vehicle at the current sampling moment, the model parameters of the auxiliary test vehicle and the motion state information of the tested vehicle;
a framing operation module 140, the framing operation module 140 for framing the motion status information of the secondary test vehicle at the next sampling instant according to the V2X communication protocol
A second communication module 150, wherein the second communication module 150 is configured to transmit the motion state information of the next sampling time of the auxiliary test vehicle completing the framing operation to the vehicle under test in a next network access period, and receive the V2X function test information of the vehicle under test.
The V2X function application testing device based on vehicle-road cooperation virtually realizes auxiliary testing vehicles in actual road testing by using the vehicle-road cooperation technology, thereby avoiding collision with the tested vehicles in the testing process and improving the testing safety; the specific test scene is quantized into the test cases of specific parameters such as relative position, speed and the like and vehicle model parameters, and the motion of the auxiliary test vehicle is simulated and implemented through the vehicle-road cooperation technology, so that the uncertainty caused by the operation of a vehicle driver is avoided, and the implementation accuracy of the test cases and the effectiveness of test data are improved.
Specifically, the V2X function application testing device 100 based on vehicle-road coordination includes:
the V2X road-side device 160, the V2X road-side device 160 is in wireless communication connection with the second communication module 150, and the V2X road-side device 160 is used for realizing communication with a tested vehicle.
It should be understood that the first communication module and the second communication module in the V2X functional application testing device based on vehicle-road cooperation provided by the present invention both refer to the ethernet communication module in fig. 2, the motion tracking module is a moving object tracking module, the computing module is a virtual vehicle relative motion computing module in fig. 2, and the framing operation module is a control information framing module in fig. 2.
For the working principle of the device for testing V2X function application based on vehicle-road coordination provided by the present invention, reference may be made to the foregoing description of the method for testing V2X function application based on vehicle-road coordination, and details thereof are not repeated here.
As a third aspect of the present invention, there is provided a vehicle-road coordination based V2X functional application testing system, wherein as shown in fig. 2, the vehicle-road coordination based V2X functional application testing system includes: the system comprises a scene generation module, a vehicle-mounted module and the V2X functional application testing device based on vehicle-road cooperation, wherein the scene generation module and the vehicle-mounted module are in communication connection with the V2X functional application testing device based on vehicle-road cooperation;
the scene generating module is used for generating scene setting information;
the vehicle-mounted module is used for acquiring the motion state information of the detected vehicle;
the V2X function application testing device based on vehicle-road cooperation is used for obtaining motion state information of the auxiliary testing vehicle at the next sampling moment according to scene setting information and motion state information of the tested vehicle, and sending the motion state information to the vehicle-mounted module to realize V2X function application testing of the tested vehicle.
According to the V2X functional application test system based on vehicle-road cooperation, the V2X functional application test device based on vehicle-road cooperation is adopted, and auxiliary test vehicles in actual road tests are virtually realized by using the vehicle-road cooperation technology, so that collision between the auxiliary test vehicles and the tested vehicle in the test process is avoided, and the test safety is improved; the specific test scene is quantized into the test cases of specific parameters such as relative position, speed and the like and vehicle model parameters, and the test cases are implemented by simulating auxiliary test vehicle motion through the vehicle road cooperation technology, so that the uncertainty caused by the operation of a vehicle driver is avoided, the implementation accuracy of the test cases and the validity of test data are improved, and a safe and efficient test platform is provided for the V2X functional application real road test evaluation.
Specifically, the scene generation module includes: the system comprises a third communication module, a scene generation calculation module and a first display module, wherein the third communication module and the display module are in wired communication connection with the scene generation calculation module;
the scene generation calculation module is used for generating scene setting information;
the third communication module is used for realizing communication between the scene generation module and the vehicle-road cooperation based V2X function application testing device;
the display module is used for displaying a scene test process of the V2X function application test device based on vehicle-road cooperation.
It should be understood that, here, the third communication module is the ethernet communication module in fig. 2, the scene generation calculation module is the scene generation computer in fig. 2, and the first display module is specifically the display in fig. 2.
Specifically, the scene control module stores car networking function application test case data, and can output relative motion parameter information of the auxiliary test vehicle and the tested vehicle, wherein the relative motion parameter information comprises relative position, speed, acceleration, attitude angle and attitude angular velocity information, and the virtual auxiliary test vehicle model parameters comprise length, width, height, mass, three-axis rotational inertia, wheel base, maximum power of an engine and maximum torque information of the vehicle. In addition, the scene control module also displays the running states of the auxiliary test vehicle and the tested vehicle in the virtual three-dimensional view, and displays the speed, the position and the course information of the vehicle.
It should be understood that the vehicle-road coordination based V2X function application testing device described herein may specifically be a roadside scene control module in fig. 2. The road side scene control module is used for receiving the motion information of the tested vehicle sent by the V2X vehicle-mounted module and controlling and sending the motion state information of the virtual auxiliary test vehicle, wherein the motion state information comprises the position, speed, acceleration, attitude angle and attitude angular speed information of the virtual auxiliary test vehicle at the sampling moment. And the road side scene control module tracks and estimates the motion state of the detected vehicle according to the motion information of the detected vehicle and the virtual auxiliary test vehicle model parameters, calculates the motion state of the virtual auxiliary test vehicle at the sampling moment, and completes framing operation and information transmission according to a V2X communication protocol.
Specifically, the on-board module includes: the vehicle-mounted display system comprises V2X vehicle-mounted equipment, a fourth communication module, a vehicle-mounted control calculation module and a second display module, wherein the second display module and the fourth communication module are both in communication connection with the vehicle-mounted control calculation module, and the V2X vehicle-mounted equipment is in wired communication connection with the fourth communication module;
the vehicle-mounted control computing module is used for collecting motion state information of a detected vehicle and sending the motion state information to the V2X vehicle-mounted equipment through the fourth communication module, the V2X vehicle-mounted equipment is used for sending the motion state information of the detected vehicle to the V2X function application testing device based on vehicle-road cooperation, the V2X vehicle-mounted equipment can also receive motion state information of an auxiliary test vehicle sent by the V2X function application testing device based on vehicle-road cooperation and send the motion state information to the vehicle-mounted control computing module through the fourth communication module, the vehicle-mounted control computing module can also analyze the motion state information of the auxiliary test vehicle and obtain early warning information, and the second display module is used for displaying the early warning information.
It should be understood that the fourth communication module is the ethernet communication module in fig. 2, the on-board control calculation module is the on-board control computer in fig. 2, and the second display module is the display shown in fig. 2.
Specifically, the vehicle-mounted module is configured to receive motion state information of the virtual auxiliary test vehicle sent by the roadside scene control module, and send the motion state information of the vehicle to be tested, where the motion state information includes vehicle position, speed, acceleration, attitude angle, and attitude angular velocity information. And the tested function application judges the vehicle to be tested and the motion state of the vehicle to be tested according to the sampling time, and sends early warning information to the driver through the vehicle-mounted control computer.
According to the V2X functional application test system based on vehicle-road cooperation, the scene control module, the roadside scene control module and the vehicle-mounted module are utilized to form the test system, the driving requirement of an auxiliary test vehicle in a high-risk test scene is converted into a quantitative relative motion parameter test case, the roadside scene control module calculates and sends the motion information of the auxiliary test vehicle according to the real-time motion state of the tested vehicle, and the motion information is interacted with the tested vehicle, so that the motion of the auxiliary test vehicle is virtualized, the V2X functional application test is completed under the condition that a real driver and the tested vehicle participate, quantitative test data are provided for functional application evaluation, and the real-road test efficiency is improved.
For the specific working process of the vehicle-road coordination-based V2X functional application testing system provided by the present invention, reference may be made to the foregoing description of the vehicle-road coordination-based V2X functional application testing method, which is not described herein again.
It will be understood that the above embodiments are merely exemplary embodiments adopted to illustrate the principles of the present invention, and the present invention is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. A V2X functional application testing method based on vehicle-road coordination is characterized in that the V2X functional application testing method based on vehicle-road coordination comprises the following steps:
acquiring scene setting information, wherein the scene setting information comprises motion state information of the auxiliary test vehicle at the current sampling moment and model parameters of the auxiliary test vehicle;
receiving the motion state information of the detected vehicle;
calculating the motion state of the auxiliary test vehicle at the next sampling moment according to the motion state information of the auxiliary test vehicle at the current sampling moment, the model parameters of the auxiliary test vehicle and the motion state information of the tested vehicle;
framing the motion state information of the auxiliary test vehicle at the next sampling moment according to a V2X communication protocol;
sending the motion state information of the next sampling moment of the auxiliary test vehicle which completes the framing operation to a tested vehicle in the next network access period, and receiving the V2X function test information of the tested vehicle;
calculating the motion state of the auxiliary test vehicle at the next sampling moment according to the motion state information of the auxiliary test vehicle at the current sampling moment, the model parameters of the auxiliary test vehicle and the motion state information of the tested vehicle, wherein the method comprises the following steps:
calculating the motion state of the auxiliary test vehicle at the next sampling moment based on the motion state estimation of the vehicle to be tested according to the relative motion parameters of the auxiliary test vehicle, wherein the motion state comprises the position, the speed and the course information in the local geographic coordinate system
Wherein the content of the first and second substances,
and
respectively representing the east and north positions, v, of the test-assist vehicle in the local geographical coordinate system C Representing a speed of a secondary test vehicle in the local geographic coordinate system; psi C Representing a heading angle of the auxiliary test vehicle in the local geographic coordinate system;
wherein, after the motion state of the detected vehicle is acquired, the motion state of the detected vehicle is tracked and estimated according to the received motion state information of the detected vehicle, wherein the motion state of the detected vehicle comprises that the detected vehicle enters an effective communication range:
establishing a local geographic coordinate system, and selecting a motion state vector of the detected vehicle as [ x ] e y n v e v u ] T Wherein x is e And y n Respectively representing the east and north position coordinates of the vehicle under test in the local geographical coordinate system, v e And v n Respectively representing the east and north speeds of the tested vehicle in a local geographic coordinate system;
the motion state information of the detected vehicle is used as the measurement information, and the position and speed information is adopted to form an observation vector
Wherein the content of the first and second substances,
and
respectively represents the east and north position coordinates of the motion state information of the tested vehicle in the local geographic coordinate system,
and
respectively representing the east-direction position coordinates and the north-direction position coordinates of the motion state information of the tested vehicle in a local geographic coordinate system;
establishing a state equation of the uniform motion and the uniform turning motion of the detected vehicle by adopting an interactive multi-model, wherein the acceleration is regarded as random disturbance by the uniform motion model, and then a corresponding state transition matrix, an interference propagation matrix and an observation matrix are respectively as follows:
assuming that the course angular velocity omega is known, the uniform speed turning motion model has a corresponding state transition matrix, an interference propagation matrix and an observation matrix which are respectively as follows:
establishing N filter combinations M i (k)，i＝1...N；
According to the interactive multi-model method, each filter is independently estimated at each sampling moment, and the estimation of the motion state of the measured vehicle with the measurement noise removed is obtained according to the comprehensive estimation of N models
2. The vehicle-road coordination based V2X function application testing method according to claim 1, wherein the motion state information of the auxiliary test vehicle at the current sampling moment comprises: and the current sampling moment of the auxiliary test vehicle is relative to the position, speed, acceleration, attitude angle and attitude angular speed of the tested vehicle.
3. The vehicle-road coordination based V2X functional application testing method according to claim 1, wherein the model parameters of the auxiliary test vehicle include length, width, height, mass, triaxial moment of inertia, wheel base, and engine maximum power and torque information of the auxiliary test vehicle.
4. The vehicle-road coordination based V2X function application test method according to claim 1, wherein the motion state information of the vehicle under test comprises position, speed, acceleration, attitude angle and attitude angular velocity of the vehicle under test at the sampling time.
5. The vehicle-road coordination based V2X functional application testing method according to any one of claims 1 to 4, wherein the scenario setting information further includes V2X functional application testing scenario design data.
6. A vehicle-road coordination based V2X functional application testing device for implementing the vehicle-road coordination based V2X functional application testing method of any one of claims 1 to 5, wherein the vehicle-road coordination based V2X functional application testing device comprises:
the system comprises a first communication module, a second communication module and a third communication module, wherein the first communication module is used for acquiring scene setting information, and the scene setting information comprises motion state information of the auxiliary test vehicle at the current sampling moment and model parameters of the auxiliary test vehicle;
the motion tracking module is used for receiving motion state information of a detected vehicle;
the calculation module is used for calculating the motion state of the auxiliary test vehicle at the next sampling moment according to the motion state information of the auxiliary test vehicle at the current sampling moment, the model parameters of the auxiliary test vehicle and the motion state information of the tested vehicle;
a framing operation module for framing the motion status information of the secondary test vehicle at a next sampling time according to the V2X communication protocol
And the second communication module is used for sending the motion state information of the next sampling moment of the auxiliary test vehicle which completes the framing operation to the tested vehicle in the next network access period and receiving the V2X function test information of the tested vehicle.
7. The V2X functional application testing device of claim 6, wherein the V2X functional application testing device based on vehicle-road coordination comprises:
the V2X road side device is in wireless communication connection with the second communication module, and the V2X road side device is used for achieving communication with a detected vehicle.
8. A V2X function application test system based on vehicle-road coordination is characterized in that the V2X function application test system based on vehicle-road coordination comprises: the vehicle-road coordination based V2X functional application testing device comprises a scene generation module, an on-board module and the vehicle-road coordination based V2X functional application testing device of claim 6 or 7, wherein the scene generation module and the on-board module are both in communication connection with the vehicle-road coordination based V2X functional application testing device;
the scene generating module is used for generating scene setting information;
the vehicle-mounted module is used for acquiring the motion state information of the detected vehicle;
the V2X function application testing device based on vehicle-road cooperation is used for obtaining motion state information of the auxiliary testing vehicle at the next sampling moment according to scene setting information and motion state information of the tested vehicle, and sending the motion state information to the vehicle-mounted module to realize V2X function application testing of the tested vehicle.
9. The vehicle-road coordination based V2X functional application testing system according to claim 8, wherein the scenario generation module comprises: the system comprises a third communication module, a scene generation calculation module and a first display module, wherein the third communication module and the display module are in wired communication connection with the scene generation calculation module;
the scene generation calculation module is used for generating scene setting information;
the third communication module is used for realizing communication between the scene generation module and the vehicle-road cooperation based V2X functional application testing device;
the display module is used for displaying a scene test process of the V2X function application test device based on vehicle-road cooperation.
10. The vehicle-road coordination based V2X functional application testing system according to claim 8, wherein the vehicle-mounted module comprises: the vehicle-mounted display system comprises V2X vehicle-mounted equipment, a fourth communication module, a vehicle-mounted control calculation module and a second display module, wherein the second display module and the fourth communication module are in communication connection with the vehicle-mounted control calculation module, and the V2X vehicle-mounted equipment is in wired communication connection with the fourth communication module;
the vehicle-mounted control computing module is used for collecting motion state information of a detected vehicle and sending the motion state information to the V2X vehicle-mounted equipment through the fourth communication module, the V2X vehicle-mounted equipment is used for sending the motion state information of the detected vehicle to the V2X function application testing device based on vehicle-road cooperation, the V2X vehicle-mounted equipment can also receive motion state information of an auxiliary test vehicle sent by the V2X function application testing device based on vehicle-road cooperation and send the motion state information to the vehicle-mounted control computing module through the fourth communication module, the vehicle-mounted control computing module can also analyze the motion state information of the auxiliary test vehicle and obtain early warning information, and the second display module is used for displaying the early warning information.
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